Bro, I got to tell you that your car has the same problem as mine. Remember once Mr. Ford said, "I will make cheap cars that everyone can have".
I would replace it with, "I will make suck cars that everyone can have".
Anyway, your vehicle has one of a bad ABS sensor. There maybe 2 of them goes out at once. This is one of Ford common problem. Those sensors are mounted from the inside side of the rotors(one from each side of the front wheel. I figure out the problem is that the front brake rotors when they got too hot that they just burned these sensors out.
The dealers do charge big buck on these replacement. You can buy the parts and bring them to a Pepboy or an outside store, or you can do them by yourself. To replace them, you need to remove the wheel on each side. Then you need to remove the brake pads and the rotor in order you can access to the sensor. The sensor part is easy to replace, but you need to remove the brake pads and the rotor in order you can remove the sensor. To remove the sensor, you just uncrew the two bolts those hold the sensor and unplug the wiring cable connector.